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lerobot
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51 Commits

Author SHA1 Message Date
Simon Alibert e4ba084e25 Add LeRobotDatasetMetadata 2024-11-03 18:07:37 +01:00
Simon Alibert a2a8538ac9 add write_stats, changes names, add some typing 2024-10-23 11:38:07 +02:00
Simon Alibert 2abef3bef9
Enable `video_reader` backend (#220) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-06-19 17:15:25 +02:00
Marina Barannikov c38f535c9f
FIx make_dataset to match transforms config (#264) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-06-12 19:45:42 +02:00
Marina Barannikov ff8f6aa6cd
Add data augmentation in LeRobotDataset (#234) 
Co-authored-by: Simon Alibert <alibert.sim@gmail.com>
Co-authored-by: Remi Cadene <re.cadene@gmail.com>
 2024-06-11 19:20:55 +02:00
Remi d585c73f9f
Add real-world support for ACT on Aloha/Aloha2 (#228) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-05-31 15:31:02 +02:00
Alexander Soare 111cd58f8a
Add `MultiLerobotDataset` for training with multiple `LeRobotDataset`s (#229) 2024-05-30 16:12:21 +01:00
Alexander Soare e3b9f1c19b
Add resume training (#205) 
Co-authored-by: Remi <re.cadene@gmail.com>
 2024-05-28 12:04:23 +01:00
Simon Alibert f52f4f2cd2
Add copyrights (#157) 2024-05-15 12:13:09 +02:00
Remi 19812ca470
Add dataset visualization with rerun.io (#131) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
 2024-05-04 16:07:14 +02:00
Alexander Soare 9d60dce6f3
Tidy up yaml configs (#121) 2024-04-30 16:08:59 +01:00
Remi 659c69a1c0
Refactor datasets into LeRobotDataset (#91) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 12:23:12 +02:00
Remi e760e4cd63
Move normalization to policy for act and diffusion (#90) 
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-25 11:47:38 +02:00
Remi 1030ea0070
Loads episode_data_index and stats during dataset __init__ (#85) 
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
 2024-04-23 14:13:25 +02:00
Alexander Soare c9454333d8 revision 2024-04-17 09:02:35 +01:00
Alexander Soare 1331d3b4e4 fix issue with saving freshly computed stats 2024-04-17 08:49:28 +01:00
Cadene 4a3eac4743 fix unit tests, stats was missing, visualize_dataset was broken 2024-04-16 17:20:53 +00:00
Cadene 0980fff6cc HF datasets works 2024-04-16 17:19:40 +00:00
Cadene 5edd9a89a0 Move stats_dataset init into else statement -> faster init 2024-04-16 17:19:39 +00:00
Cadene 67d79732f9 Add download_and_upload_dataset.py in script, update all datasets, update online training 2024-04-16 17:19:39 +00:00
Cadene f8c5a2eb10 remove comment 2024-04-10 17:14:02 +00:00
Cadene 9874652c2f enable test_compute_stats 
enable test_compute_stats
 2024-04-10 17:12:54 +00:00
Cadene c08003278e test_examples are passing 2024-04-10 13:45:45 +00:00
Simon Alibert 3f6dfa4916 Add gym-aloha, rename simxarm -> xarm, refactor 2024-04-08 16:24:11 +02:00
Cadene 4371a5570d Remove latency, tdmpc policy passes tests (TODO: make it work with online RL) 2024-04-07 16:01:22 +00:00
Cadene c93ce35d8c WIP stats (TODO: run tests on stats + cmpute them) 2024-04-04 16:36:03 +00:00
Cadene 1cdfbc8b52 WIP 
WIP

WIP train.py works, loss going down

WIP eval.py

Fix

WIP (eval running, TODO: verify results reproduced)

Eval works! (testing reproducibility)

WIP

pretrained model pusht reproduces same results as torchrl

pretrained model pusht reproduces same results as torchrl

Remove AbstractPolicy, Move all queues in select_action

WIP test_datasets passed (TODO: re-enable NormalizeTransform)
 2024-04-04 15:31:03 +00:00
Alexander Soare 68d02c80cf Remove b/c workaround 2024-03-27 12:03:19 +00:00
Cadene 5a46b8a2a9 fix tests 2024-03-26 10:24:46 +00:00
Alexander Soare 1a1308d62f fix environment seeding 
add fixes for reproducibility

only try to start env if it is closed

revision

fix normalization and data type

Improve README

Improve README

Tests are passing, Eval pretrained model works, Add gif

Update gif

Update gif

Update gif

Update gif

Update README

Update README

update minor

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Update README.md

Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>

Address suggestions

Update thumbnail + stats

Update thumbnail + stats

Update README.md

Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>

Add more comments

Add test_examples.py
 2024-03-26 10:10:43 +00:00
Alexander Soare 8720c568d0 Add ability to eval hub model 2024-03-22 10:26:55 +00:00
Cadene 5805a7ffb1 small fix in type + comments 2024-03-15 12:44:52 +00:00
Cadene a311d38796 Add aloha + improve readme 2024-03-15 00:30:11 +00:00
Remi Cadene 9d002032d1 Add Aloha env and ACT policy 
WIP Aloha env tests pass

Rendering works (fps look fast tho? TODO action bounding is too wide [-1,1])

Update README

Copy past from act repo

Remove download.py add a WIP for Simxarm

Remove download.py add a WIP for Simxarm

Add act yaml (TODO: try train.py)

Training can runs (TODO: eval)

Add tasks without end_effector that are compatible with dataset, Eval can run (TODO: training and pretrained model)

Add AbstractEnv, Refactor AlohaEnv, Add rendering_hook in env, Minor modifications, (TODO: Refactor Pusht and Simxarm)

poetry lock

fix bug in compute_stats for action normalization

fix more bugs in normalization

fix training

fix import

PushtEnv inheriates AbstractEnv, Improve factory Normalization

Add _make_env to EnvAbstract

Add call_rendering_hooks to pusht env

SimxarmEnv inherites from AbstractEnv (NOT TESTED)

Add aloha tests artifacts + update pusht stats

fix image normalization: before env was in [0,1] but dataset in [0,255], and now both in [0,255]

Small fix on simxarm

Add next to obs

Add top camera to Aloha env (TODO: make it compatible with set of cameras)

Add top camera to Aloha env (TODO: make it compatible with set of cameras)
 2024-03-12 10:27:48 +00:00
Cadene 816b2e9d63 fix more bugs in normalization 2024-03-11 11:03:51 +00:00
Remi Cadene d782b029e1 Add aloha dataset 2024-03-06 10:26:32 +00:00
Remi Cadene eed24b083a small fix 2024-03-06 10:21:22 +00:00
Remi Cadene f95ecd66fc Improve visualize_dataset, Improve AbstractReplayBuffer, Small improvements 2024-03-06 10:15:57 +00:00
Remi Cadene d4e0849970 Refactor datasets with abstract class 2024-03-05 10:20:57 +00:00
Remi Cadene a027f4edfb Add cfg.offline_prioritized_sampler 2024-03-04 23:08:52 +00:00
Remi Cadene cfc304e870 Refactor env queue, Training diffusion works (Still not converging) 2024-03-04 11:00:51 +00:00
Remi Cadene 1ae6205269 Add Normalize, non_blocking=True in tdmpc, tdmpc run (TODO: diffusion) 2024-03-02 15:53:29 +00:00
Simon Alibert c1942d45d3 Fixes for PR #4 2024-03-01 14:59:05 +01:00
Simon Alibert b862145e22 Added pusht dataset auto-download 2024-03-01 14:31:54 +01:00
Simon Alibert 7e024fdce6 Ran pre-commit run --all-files 2024-02-29 13:37:48 +01:00
Cadene ac90b9c3ee Fix diffusion (rm transpose), Add prefetch 2024-02-28 17:45:01 +00:00
Simon Alibert 98f8869743 WIP 2024-02-28 10:59:06 +01:00
Cadene 21670dce90 Refactor train, eval_policy, logger, Add diffusion.yaml (WIP) 2024-02-26 01:10:09 +00:00
Cadene b16c334825 Refactor configs to have env in seperate yaml + Fix training 2024-02-25 17:42:47 +00:00
Cadene ece89730e6 Add pusht dataset (TODO verify reward is aligned), Refactor visualize_dataset, Add video_dir, fps, state_dim, action_dim to config (Training works) 2024-02-21 00:49:40 +00:00